METHOD FOR COMPUTER-AIDED MOVEMENT PLANNING OF A ROBOT
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Abstract
A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.
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Citations
30 Claims
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1-14. -14. (canceled)
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15. A method for planning a movement of a robot, comprising:
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translating a spatial position of a spatial point of the movement into a respective configuration position in a configuration room of the robot based on an inverse kinematics; describing the respective configuration position by a movement axis of the robot; checking the respective configuration position for a collision; and calculating a trajectory along the spatial position so that the respective configuration position of the trajectory is collision-free. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A device for planning a movement of a robot, comprising:
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a translating processor that translates a spatial position of a spatial point of the movement into a respective configuration position in a configuration room of the robot based on an inverse kinematics, the respective configuration position being described by a movement axis of the robot; a testing processor that tests the respective configuration position for a collision; and a computing processor that calculates a trajectory along the spatial position of the spatial point so that the respective configuration position of the trajectory is collision-free.
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30. A robotic medical device, comprising:
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a robot that moves the robotic medical device in a trajectory along a spatial position of a spatial point of the movement; and a processor that; translates the spatial position into a respective configuration position in a configuration room of the robot based on an inverse kinematics, the respective configuration position being described by a movement axis of the robot, tests the respective configuration position for a collision, and calculates the trajectory along the spatial position of the spatial point so that the respective configuration position of the trajectory is collision-free.
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Specification